We consider the problem of formally co-designing embodied intelligence as a whole, from hardware components such as chassis and sensors to software modules such as control and perception pipelines. We propose a principled approach to formulate and solve complex embodied intelligence co-design problems, leveraging a monotone co-design theory. The methods we propose are intuitive and integrate heterogeneous engineering disciplines, allowing analytical and simulation-based modeling techniques and enabling interdisciplinarity. We illustrate through a case study how, given a set of desired behaviors, our framework is able to compute Pareto efficient solutions for the entire hardware and software stack of a self-driving vehicle.

中文翻译：

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嵌入式智能协同设计的一种正式方法

我们考虑从硬件组件（例如机箱和传感器）到软件模块（例如控制和感知管道）整体上正式协同设计嵌入式智能的问题。我们提出一种有原则的方法，利用单调协同设计理论来制定和解决复杂的体现智能协同设计问题。我们提出的方法是直观的，并融合了不同种类的工程学科，允许使用基于分析和仿真的建模技术，并且可以实现跨学科。通过案例研究，我们说明了在给定的一组预期行为的情况下，我们的框架如何能够为自动驾驶汽车的整个硬件和软件堆栈计算帕累托有效的解决方案。